JPH11160414A - Dbf radar apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a digital beam forming(DBF) radar apparatus by which a plurality of targets can be detected in a short time even without installing a plurality of receiving means which are used to form a beam. SOLUTION: A target detection circuit 120 detects position information on a target on the basis of a timing signal from a transmission control circuit 140, and on the basis of an I/Q signal from a pulse compression circuit 100. The transmission control circuit 140 controls the pulse output timing of a transmission pulse generator 10 on the basis of the position information, and it controls the passage phase of a phase-shifting circuit 30. Accordingly, in the case of a plurality of targets, the transmission control circuit 140 continuously transmits pulse signals toward them. A beam scanning control circuit 130 controls the formation direction of the beam of a DBF circuit 90 and the changeover timing of the direction on the basis of the position information and on the basis of a timing signal from the transmission control circuit 140, and I/Q signals of the plurality of targets are generated sequenmtially.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a DBF (Digital Beam Formin) in which a beam forming direction can be arbitrarily switched.
g) For a radar device.

[0002]

2. Description of the Related Art As is well known, a conventional DBF radar apparatus has antennas 61 to 6n, receivers (RX) 71 to 7n, and an A / D converter (A / D) as shown in FIG. 81-
8n, a digital beam forming circuit (hereinafter abbreviated as DBF circuit) 90, a pulse compression processing circuit 100, a target detection circuit 12, and a beam scanning control circuit 13.

[0003] A pulse signal transmitted from a transmission system (not shown) is reflected by a target and received by antennas 61 to 6n together with clutter.
The received signals are input to receivers 71 to 7n corresponding to 1 to 6n.

[0004] These received signals are transmitted to a receiver 71.
7n are converted into digital signals by the corresponding A / D converters 81 to 8n and input to the DBF circuit 90.

[0005] The DBF circuit 90 includes a beam scanning control circuit 1.
3. The beam forming direction is controlled in accordance with the control signal from 3; the I / Q quadrature detection is performed on the reception signal digitally converted by each of the A / D converters 81 to 8n, and then the beam is formed. An I / Q signal for each range cell is generated.

[0006] The pulse compression processing circuit 100 uses the I / Q
A signal is subjected to pulse compression processing. Target detection circuit 12
Detects the distance and direction to the target from the I / Q signal subjected to the pulse compression processing.

Then, based on the detection result, the beam scanning control circuit 13 inputs a control signal to the DBF circuit 90 to control the beam forming direction. As described above,
In a conventional DBF radar device, a beam is formed in an arbitrary direction to detect a wide range of targets.

By the way, in a conventional DBF radar device,
As shown in FIG. 7, when detecting a plurality of targets T1, T2, and T3, first, a pulse signal is transmitted to one target T1 and its reflected pulse signal is received to detect the target. It is necessary to transmit the pulse signal to another target (T2 or T3) and receive the reflected pulse signal again. For this reason, when detecting a plurality of targets, it is necessary to take substantially the same number of times as the number of targets or to increase the number of DBF circuits as compared with the case where one target is detected.

[0009]

In the conventional DBF radar apparatus, when a plurality of targets are detected, each target is detected, and therefore, the number of targets is substantially smaller than when one target is detected. Do you need several times the time, DB
There is a problem that the number of F circuits needs to be increased.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problem, and has as its object to provide a DBF radar device capable of detecting a plurality of targets in a short time while suppressing an increase in the number of DBF circuits. .

Another object of the present invention is to detect a plurality of targets and accurately detect each target in a short time even if the distance between each target and the DBF radar apparatus is short. It is an object of the present invention to provide a DBF radar device that can be detected.

[0012]

In order to achieve the above object, a DBF radar apparatus according to the present invention forms a beam in an arbitrary direction and receives a reflected signal from a target. A transmitting means for transmitting a pulse signal in a direction and at a timing specified by a first control signal, and a beam forming signal in a direction specified by a second control signal to generate a reflected signal from a target; Receiving means, receiving means for detecting the direction and distance of a target as target position information from the reception result of the receiving means, and the transmitting direction of the transmitting means through a first control signal based on the target position information. A transmission control means for switching the timing to control the transmission means to continuously transmit a pulse signal to each of the plurality of targets; Through the control signal to control switching of the receiving direction and a receiving timing of the receiving means, and to be configured by including a reception control means for receiving the reflected signals from the plurality of targets to the receiving means.

In the DBF radar apparatus having the above structure, when a plurality of targets are detected, a pulse signal for each target is continuously transmitted, and the beam forming direction of the receiving means is switched and controlled, so that a reflected signal from each target is reflected. Is received to perform target detection.

Therefore, according to the DBF radar apparatus having the above configuration, a plurality of targets can be detected in a short time without providing a plurality of receiving means for performing beam forming. Further, in order to achieve the above object, the D
A BF radar device forms a beam in an arbitrary direction, receives a reflected signal from a target, and detects a target from the reception result. In a DBF radar device, a pulse is generated in a direction and a timing indicated by a first control signal. A transmitting means for transmitting a signal; a plurality of receiving means for forming a beam in a direction indicated by the second control signal to receive a reflected signal from a target; and at least one of reception results of the plurality of receiving means Selecting means for selecting and outputting according to a third control signal, target detecting means for detecting the direction and distance of a target from the output of the selecting means as target position information, A transmission control means for switching and controlling the transmission direction and transmission timing of the transmission means through the control signal and causing the transmission means to continuously transmit pulse signals directed to a plurality of targets. Receiving control means for switching the receiving directions of the plurality of receiving means through the second control signal based on the target position information, and causing each receiving means to receive reflected signals from different targets; Selection control means for switching and controlling the reception result selectively output by the selection means through the third control signal based on the third control signal, and sequentially inputting the reflected signals received from each of the plurality of targets to the target detection means. did.

In the DBF radar apparatus having the above-described configuration, when detecting a plurality of targets, a pulse signal for each target is continuously transmitted, and a plurality of receiving units perform beam forming in different target directions, respectively. Receiving the reflected signal. Then, the selection control unit controls the selection unit, and sequentially receives the reception results of the plurality of reception units to the target detection unit to detect each target.

Therefore, according to the DBF radar device having the above structure, a plurality of targets can be detected in a short time, and even if the distance between each target and the DBF radar device is short, each target can be detected. Can be accurately detected.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment according to the present invention will be described with reference to the drawings. FIG. 1 shows the configuration of the DBF radar device according to the first embodiment. However, in FIG. 1, the same parts as those in FIG. 6 showing the configuration of the conventional DBF radar apparatus are denoted by the same reference numerals, and different parts will be mainly described here.

The transmission pulse generator 10 generates a transmission pulse signal for detecting a target, and according to a timing signal input from a transmission control circuit 140 described later.
The transmission pulse signal is output to the distributor 20.

The distributor 20 distributes the transmission pulse signal from the transmission pulse generator 10 to n and inputs the signal to the phase shift circuit 30. The phase shift circuit 30 includes n phase shifters 31 to 3n. Each of the phase shifters 31, 32,... 3n receives the transmission pulse signal divided into n by the distributor 20, respectively.
The transmission phase of each transmission pulse signal is controlled based on the phase shift information signal specified by the transmission control circuit 140.

The amplifier circuit 40 includes the phase shifters 31, 32,.
N amplifiers 41, 42... 4n respectively corresponding to 3n
Consists of The amplifiers 41, 42,... 4n amplify the transmission pulse signals whose phases are controlled by the corresponding phase shifters 31, 32,. The n transmission pulse signals thus amplified are respectively supplied to the corresponding circulators 5.
5n are input to antennas 61, 62,... 6n.

The antennas 61 to 6n radiate the transmission pulse signal to the space and receive a reflection pulse signal from a target. The reflected pulse signals received by the antennas 61, 62... 6n are input to the receivers (RX) 71, 72... 7n as received signals via the corresponding circulators 51, 52.

Each of the receivers 71, 72,... 7n converts the input received signal into a low-frequency signal and inputs it to corresponding A / D converters (A / D) 81, 82,.
The A / D converters 81, 82... 8n convert the received signals, which have been frequency-converted by the corresponding receivers 71, 72. A / D converters 81 to 8
n is converted into a digital signal by a digital beam forming circuit (hereinafter abbreviated as DBF circuit) 9
Input to 0.

The DBF circuit 90 varies the beam forming direction in accordance with a control signal from a beam scanning control circuit 130, which will be described later. The DBF circuit 90 responds to the received signals digitally converted by the A / D converters 81 to 8n. After performing I / Q quadrature detection, beam forming is performed, and I / Q
Generate a signal.

The pulse compression circuit 100 includes a DBF circuit 90
I / Q signal is input. Then, the pulse compression circuit 100 performs a pulse compression process on the input I / Q signal, and inputs the signal to the target detection circuit 120.

The target detection circuit 120 includes the transmission control circuit 14
Based on the timing signal from 0 and the I / Q signal input from the pulse compression circuit 100, target position information (distance information and direction information) is detected.

The beam scanning control circuit 130 receives the target position information obtained by the target detection circuit 120 and the transmission control circuit 1
Based on the timing signal from 40, the beam forming direction of the DBF circuit 90 and the switching timing of this direction are controlled through the control signal to cause the DBF circuit 90 to sequentially generate a plurality of target I / Q signals.

The transmission control circuit 140 includes the target detection circuit 12
0, the transmission pulse generator 1
A timing signal is input to 0 to control the output timing of the pulse signal, and a phase shift information signal is input to the phase shift circuit 30 to control the passing phase.

Thus, the transmission control circuit 140 continuously transmits a pulse signal to each of a plurality of targets detected by the target detection circuit 120. The timing signal is also input to the target detection circuit 120.

Next, an operation of detecting a plurality of targets by the DBF radar device having the above configuration will be described. Here, for the sake of simplicity, a case where two targets are detected will be described as an example. For example, as shown in FIG.
1 and the case of detecting T2 in the B direction will be described.

First, the beam scanning control circuit 130
The beam forming direction of the circuit 90 is varied to scan the entire radar coverage area of the DBF radar apparatus, and the target detection circuit 1
20 detects an approximate position of the targets T1 and T2. This information is input to the beam scanning control circuit 130 and the transmission control circuit 140.

The transmission control circuit 140 to which the target position information has been input first inputs a timing signal to the transmission pulse generator 10 to transmit a transmission pulse signal to the target T1 which is closer to its own device. The phase shift information signal is input to the phase circuit 30.

After completing the pulse transmission control to the target T1, the transmission control circuit 140 inputs the timing signal to the transmission pulse generator 10 and transmits the transmission pulse signal to the target T2, and the phase shift circuit 30 The phase shift information signal is input to. By such pulse transmission control, a pulse signal is continuously transmitted in the A direction and the B direction before the reflected pulse signal from the target arrives.

On the other hand, based on the position information of the targets T1 and T2 from the target detection circuit 120, the beam scanning control circuit 130 generates an I / Q signal based on the reception signals from the targets T1 and T2 as described above. DBF circuit 9
It instructs 0 to form a beam in the A direction and then to form a beam in the B direction.

Eventually, the pulse signals reflected by the targets T1 and T2 arrive at the DBF radar device,
6n, and are input to receivers 71, 72... 7n as received signals via circulators 51, 52.

Then, the received signals are transmitted to the receivers 71, 7
A / D after frequency conversion to low frequency by 2 ... 7n
8n are converted into digital signals by the converters 81, 82,.

On the other hand, the DBF circuit 90 first forms a beam in the A direction under the control of the beam scanning control circuit 130 as described above. , An I / Q signal V1 is generated from the received signal and input to the pulse compression circuit 100.

After that, since the DBF circuit 90 is instructed to form a beam in the B direction, the DBF circuit 90 forms a beam in the B direction and outputs the I / Q signal V2 from the received signal from the target T2.
Is generated and input to the pulse compression circuit 100.

The pulse compression circuit 100 receives the input I /
Pulse compression processing is sequentially performed on the Q signals V1 and V2,
Input to the target detection circuit 120. On the other hand, the target detection circuit 120 outputs the sequentially input I / Q signals V1 and V2.
The position information of each target is detected from the above processing result, and the detected information is output to the beam scanning control circuit 130 and the transmission control circuit 140. Thereafter, the above operation is repeated to detect the position information of the targets T1 and T2 with high accuracy.

As described above, in the DBF radar apparatus having the above configuration, when detecting a plurality of targets, a pulse signal for target detection is continuously transmitted to each target, and a reflected signal from each target is received. I do. Then, the beam forming direction of the DBF circuit 90 is switched and controlled, so that the I / Q
Generate a signal. Then, pulse compression processing is performed on these I / Q signals, and the target detection circuit 120 detects each target.

Therefore, according to the DBF radar device having the above configuration, a pulse signal is continuously transmitted to a plurality of targets, and the beam forming direction of the DBF circuit 90 is switched and controlled in accordance with the arrival timing of the reflected signal. Thus, a plurality of targets can be detected in a short time without providing a plurality of DBF circuits.

Next, a second embodiment according to the present invention will be described. FIG. 2 shows a configuration of a DBF radar device according to one embodiment of the present invention. However, FIG. 6 shows the configuration of a conventional DBF radar device in FIG.
The same parts as those described above are denoted by the same reference numerals, and different parts will be mainly described here.

The transmission pulse generator 10 generates a transmission pulse signal for detecting a target, and according to a timing signal input from a transmission control circuit 141 described later.
The transmission pulse signal is output to the distributor 20.

The distributor 20 distributes the transmission pulse signal from the transmission pulse generator 10 to n and inputs the signal to the phase shift circuit 30. The phase shift circuit 30 includes n phase shifters 31 to 3n. Each of the phase shifters 31, 32,... 3n receives the transmission pulse signal divided into n by the distributor 20, respectively.
The transmission phase of each transmission pulse signal is controlled based on the phase shift information signal specified by the transmission control circuit 141.

The amplifying circuit 40 includes the phase shifters 31, 32,.
N amplifiers 41, 42... 4n respectively corresponding to 3n
Consists of The amplifiers 41, 42,... 4n amplify the transmission pulse signals whose phases are controlled by the corresponding phase shifters 31, 32,. The n transmission pulse signals thus amplified are respectively supplied to the corresponding circulators 5.
5n are input to antennas 61, 62,... 6n.

The antennas 61 to 6n radiate the transmission pulse signal to the space and receive the reflection pulse signal from the target. The reflected pulse signals received by each of the antennas 61, 62,... 6n are passed through the corresponding circulators 51, 52,.
1, 72... 7n.

The receivers 71, 72... 7n perform frequency conversion of the received signals to be input to low frequencies and input the corresponding signals to the corresponding A / D converters 81, 82. The A / D converters 81, 82... 8n are connected to the corresponding receivers 71, 82, respectively.
The received signal frequency-converted at 72... 7n is converted into a digital signal.

The received signals converted into digital signals by the A / D converters 81 to 8n are input to digital beam forming circuits (hereinafter abbreviated as DBF circuits) 91 to 9m, respectively.

The DBF circuits 91 to 9m form beams in independent directions in accordance with control signals from a beam scanning control circuit 131 described later.
1 to 8n for the digitally converted received signal
After performing / Q quadrature detection, beam forming is performed to generate an I / Q signal for each range cell.

.. 10 m
, Input I / Q signals from the corresponding DBF circuits 91, 92... 9m. Then, each pulse compression circuit 1
.., 10m perform pulse compression processing on the input I / Q signal and input it to the switch circuit 110.

The switch circuit 110 selectively selects the I / Q signal subjected to the pulse compression processing by the pulse compression circuits 101, 102,..., 10m in accordance with a control signal from a switch control circuit 150 described later. Output to

The target detection circuit 121 includes the transmission control circuit 14
1, based on the timing signal from I and the I / Q signal selectively output from the switch circuit 110, the target position information (distance information and direction information) is detected.

The beam scanning control circuit 131 inputs a control signal based on the target position information obtained by the target detection circuit 121 to each of the DBF circuits 91, 92... 9m, and controls the beam forming direction and the switching of this direction. Control the timing,
Each of the DBF circuits 91, 92... 9m generates a target I / Q signal.

The transmission control circuit 141 includes the target detection circuit 12
1. Based on the position information obtained in step 1, the transmission pulse generator 1
A timing signal is input to 0 to control the output timing of the pulse signal, and a phase shift information signal is input to the phase shift circuit 30 to control the passing phase.

Thus, the transmission control circuit 141 continuously transmits the pulse signals to the respective targets detected by the target detection circuit 121. Note that the timing signal is also input to the target detection circuit 121.

The switch control circuit 150 controls the switching of the I / Q signals output from the switch circuit 110 in accordance with the target position information obtained by the target detection circuit 121. The DBF circuits 91, 92. Switching control is performed so that the I / Q signal obtained from the target is input to the target detection circuit 121.

Next, an operation of detecting a plurality of targets by the DBF radar device having the above configuration will be described. Here, for the sake of simplicity, a case where two targets are detected is taken as an example, and a target T1 (A direction) and a target T2 (B
Direction), the distance from the DBF radar device is short, that is, the DBF radar device and the target T1
A detection operation in the case where the distance between the target and the target T2 is short is described. FIG. 5 is a timing chart for explaining this operation.

First, the beam scanning control circuit 131
By changing the beam forming direction of the circuits 91 to 9m, the D
The entire radar coverage of the BF radar device is scanned, and the target detection circuit 121 detects approximate positions of the targets T1 and T2. This information is input to the beam scanning control circuit 131, the transmission control circuit 141, and the switch control circuit 150.

The transmission control circuit 141 to which the target position information has been input firstly inputs a timing signal to the transmission pulse generator 10 to transmit a transmission pulse signal to the target T1 which is closer to its own device. The phase shift information signal is input to the phase circuit 30.

When the pulse transmission control to the target T1 is completed, the transmission control circuit 141 inputs a timing signal to the transmission pulse generator 10 and transmits a transmission pulse signal to the target T2. The phase shift information signal is input to.

By such pulse transmission control, FIG.
As shown in (a), before the reflected pulse signal from the target arrives, the pulse signal is continuously transmitted in the A direction and the B direction.

On the other hand, based on the position information of the targets T1 and T2 from the target detection circuit 121, the beam scanning control circuit 131 generates an I / Q signal based on the reception signals from the targets T1 and T2 as described above. For example, DBF
It instructs the circuit 91 to form a beam in the A direction and the DBF circuit 92 to form a beam in the B direction.

Eventually, the pulse signals reflected by the targets T1 and T2 arrive at the DBF radar device. Here, in the pulse signals reflected by the targets T1 and T2, since the distance between the target T1 and the target T2 is short from the DBF radar device, the reception timing is over as shown in FIGS. 5B and 5C. I'm wrapping.

The pulse signals reflected by the targets T1 and T2 are received by the antennas 61, 62... 6n, respectively, and input to the receivers 71, 72. You.

Then, the received signals are received by the receivers 71 and 7.
A / D after frequency conversion to low frequency by 2 ... 7n
8n are converted into digital signals by the converters 81, 82,... 8n, and input to the DBF circuits 91 to 9m.

On the other hand, since the DBF circuit 91 has been instructed to form a beam in the direction A by the control of the beam scanning control circuit 131 as described above, the DBF circuit 91 forms a beam in the direction A to form a beam as shown in FIG. ), An I / Q signal is generated from the received signal from the target T1, and the pulse compression circuit 101
To enter.

On the other hand, since the DBF circuit 92 has been instructed to form a beam in the B direction under the control of the beam scanning control circuit 131, it forms a beam in the B direction and, as shown in FIG. An I / Q signal is generated from the received signal from T2 and input to the pulse compression circuit 102.

Pulse compression circuit 101, pulse compression circuit 1
2 performs pulse compression processing on the input I / Q signal as shown in FIGS. 5F and 5G, and inputs the signal to the switch circuit 110.

Here, the position information of the targets T1 and T2 is input to the switch control circuit 150 as described above. Therefore, the switch circuit 110 is switched by the switch control circuit 150 at the timing shown in FIG. 5H, and the pulse compression circuit 1 corresponding to the DBF circuit 91 is switched.
01, the input signal from the direction A, and the input signal from the pulse compression circuit 102 corresponding to the DBF circuit 92, the signal from the direction B. 121.

On the other hand, the target detection circuit 121
The position information of each target is detected from signals sequentially input in the direction B and the direction B, and the detected information is output to the beam scanning control circuit 131, the transmission control circuit 141, and the switch control circuit 150. Thereafter, the above operation is repeated to detect the position information of the targets T1 and T2 with high accuracy.

As described above, in the DBF radar apparatus having the above configuration, when detecting a plurality of targets, a pulse signal for detecting the target is continuously applied to each target until the reflected signal arrives. And receives the reflected signal from each target. Then, the plurality of DBF circuits 91 to 9m form beams in the directions of the respective targets, generate I / Q signals for the respective targets from the received reflected signals, and perform pulse compression processing. Then, the switch control circuit 150 controls the switching of the switch circuit 110 in accordance with the order in which the reflection signals are received, and inputs the processing result to the target detection circuit 121 to detect each target.

Therefore, according to the DBF radar device having the above structure, a plurality of targets can be detected in a short time, and even when the distance between each target and the DBF radar device is short, Each target can be accurately detected.

The reason is that when a plurality of targets are detected by switching the beam forming direction of one DBF circuit 91 and the distance between each target and the DBF radar apparatus is short, the DBF circuit 91 outputs. The I / Q signal is shown in FIG.
Missing occurs as shown in (j). For this reason, even if pulse compression processing is performed thereafter, as shown in FIG. 5K, at least one of the processing results has a level lower than that of FIG. 5I, and accurate target detection cannot be performed. Absent.
It goes without saying that various modifications can be made without departing from the spirit of the present invention.

[0073]

As described above, according to the present invention, when a plurality of targets are detected, a pulse signal for each target is continuously transmitted, and the beam forming direction of the receiving means is switched and controlled. The target detection is performed by receiving the reflected signal from the target.

Therefore, according to the present invention, it is possible to provide a DBF radar apparatus capable of detecting a plurality of targets in a short time without providing a plurality of receiving means for performing beam forming.

Further, according to the present invention, when detecting a plurality of targets, a pulse signal for each target is continuously transmitted, and a plurality of receiving means form beams in different target directions to reflect light from each target. Receive the signal. Then, the selection control unit controls the selection unit, and sequentially receives the reception results of the plurality of reception units to the target detection unit to detect each target.

Therefore, according to the present invention, a plurality of targets can be detected in a short time, and even if the distance between each target and the DBF radar apparatus is short, each target can be accurately detected. And a DBF radar device capable of performing such operations.

[Brief description of the drawings]

FIG. 1 is a circuit block diagram showing a configuration of a first embodiment of a DBF radar apparatus according to the present invention.

FIG. 2 is a circuit block diagram showing a configuration of a second embodiment of the DBF radar apparatus according to the present invention.

FIG. 3 is a view for explaining the arrangement of a plurality of targets detected by the DBF radar device shown in FIG. 1;

FIG. 4 is a view for explaining the arrangement of a plurality of targets detected by the DBF radar apparatus shown in FIG. 3;

FIG. 5 is a timing chart for explaining an operation when the DBF radar device shown in FIG. 3 detects a plurality of targets.

FIG. 6 is a circuit block diagram showing a configuration of a conventional DBF radar device.

FIG. 7 is a view for explaining an operation when the conventional DBF radar apparatus shown in FIG. 6 detects a plurality of targets.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Transmission pulse generator 20 ... Distributor 30 ... Phase shift circuit 31-3n ... Phase shifter 40 ... Amplifier circuit 41-4n ... Amplifier 51-5n ... Circulator 61-6n ... Antenna 71-7n ... Receiver (RX) 81 to 8n A / D converter (A / D) 90 to 9m DBF circuit 100 to 10m Pulse compression circuit 110 Switch circuit 120, 121 Target detection circuit 130, 131 Beam scanning control circuit 140, 141 Transmission control circuit 150: Switch control circuit

Claims (2)

[Claims] 1. A DBF (Digital Beam Forming) radar device that forms a beam in an arbitrary direction, receives a reflected signal from a target, and detects a target from the reception result. Transmitting means for transmitting a pulse signal in a direction and at a timing; receiving means for forming a beam in a direction instructed by a second control signal to receive a reflected signal from the target; Target detecting means for detecting the direction and distance of the target as target position information; and controlling the switching of the transmission direction and transmission timing of the transmitting means through the first control signal based on the target position information. Transmission control means for continuously transmitting a pulse signal toward each of the targets; and receiving the pulse signals through the second control signal based on the target position information. DBF radar apparatus controls switching the receiving direction and reception timing means, characterized by comprising a receiving control means for receiving a reflected signal from the plurality of target to said receiving means. 2. A DBF (Digital Beam Forming) radar device which forms a beam in an arbitrary direction, receives a reflected signal from a target, and detects a target from the reception result, and is instructed by a first control signal. A transmitting means for transmitting a pulse signal in a direction and a timing; a plurality of receiving means for forming a beam in a direction instructed by a second control signal to receive a reflected signal from the target; and receiving the plurality of receiving means. Selecting means for selecting and outputting at least one of the results in accordance with a third control signal; target detecting means for detecting the direction and distance of the target from the output of the selecting means as target position information; Through the first control signal based on the target position information, the transmission direction and the transmission timing of the transmission means are switched and controlled, and the transmission means is directed to each of a plurality of targets. A transmission control means for continuously transmitting a pulse signal, and controlling the switching of the receiving direction of the plurality of receiving means through the second control signal based on the target position information. Receiving control means for receiving a reflected signal, based on the target position information, through the third control signal, switching control of the reception result selected and output by the selecting means, the reflected signal received from each of the plurality of targets said A DBF radar device comprising: a selection control unit for sequentially inputting data to a target detection unit.